Mitsubishi Electric MELSERVO-J4 MR-J4 TM Instruction Manual page 33

1. FUNCTIONS AND CONFIGURATION
1.5 Function list
The following table lists the functions of this servo. For details of the functions, refer to each section of the
detailed description field.
Function
Model adaptive control
Touch probe
High-resolution encoder
Absolute position detection
system
Gain switching function
Advanced vibration
suppression control II
Machine resonance
suppression filter
Shaft resonance suppression
filter
Adaptive filter II
Low-pass filter
Machine analyzer function
Robust filter
Slight vibration suppression
control
Electronic gear
S-pattern acceleration/
deceleration time constant
Auto tuning
Brake unit
Power regeneration converter
Regenerative option
Alarm history clear
Input signal selection (device
settings)
Output signal selection
(device settings)
POINT
For the control modes, refer to "MR-J4-_TM_ Servo Amplifier Instruction Manual
(EtherCAT)".
This realizes a high response and stable control following the ideal model. The two-
degrees-of-freedom-model model adaptive control enables you to set a response to
the command and response to the disturbance separately. Additionally, this function
can be disabled. Refer to section 7.5 for disabling this function.
When the touch probe signal turns on, the current position is latched.
High-resolution encoder of 4194304 pulses/rev is used as the encoder of the rotary
servo motor compatible with the MELSERVO-J4 series.
Merely setting a home position once makes home position return unnecessary at
every power-on.
You can switch gains during rotation and during stop, and can use an input device to
switch gains during operation.
This function suppresses vibration at the arm end or residual vibration.
This is a filter function (notch filter) which decreases the gain of the specific frequency
to suppress the resonance of the mechanical system.
When a load is mounted to the servo motor shaft, resonance by shaft torsion during
driving may generate a mechanical vibration at high frequency. The shaft resonance
suppression filter suppresses the vibration.
Servo amplifier detects mechanical resonance and sets filter characteristics
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system response is
increased.
Analyzes the frequency characteristic of the mechanical system by simply connecting
a MR Configurator2 installed personal computer and servo amplifier.
MR Configurator2 is necessary for this function.
This function provides better disturbance response in case low response level that
load to motor inertia ratio is high for such as roll send axes.
Suppresses vibration of ±1 pulse produced at a servo motor stop.
The position control is performed based on a value obtained by multiplying the
position command from the controller by the set electronic gear ratio.
Speed can be increased and decreased smoothly.
Automatically adjusts the gain to optimum value if load applied to the servo motor
shaft varies.
Used when the regenerative option cannot provide enough regenerative power.
Can be used for the 5 kW or more servo amplifier.
Used when the regenerative option cannot provide enough regenerative power.
Can be used for the 5 kW or more servo amplifier.
Used when the built-in regenerative resistor of the servo amplifier does not have
sufficient regenerative capability for the regenerative power generated.
Alarm history is cleared.
LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end) and other input
device can be assigned to any pins.
The output devices including MBR (Electromagnetic brake interlock) can be assigned
to certain pins of the CN3 connector.
Description
1 - 16
Detailed
explanation
Section 3.5 (2)
[Pr. PD37]
(Note)
Chapter 12
Section 7.2
Section 7.1.5
Section 7.1.1
Section 7.1.3
Section 7.1.2
Section 7.1.4
[Pr. PE41]
[Pr. PB24]
[Pr. PA06]
[Pr. PA07]
[Pr. PT51]
Section 6.3
Section 11.3
Section 11.4
Section 11.2
[Pr. PC21]
[Pr. PD03] to
[Pr. PD05]
[Pr. PD07] to
[Pr. PD09]